Stock-Based Compensation - Stock options (Details) - Employee Stock Option [Member] - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	9 Months Ended	12 Months Ended
	Sep. 30, 2023	Dec. 31, 2022
Number outstanding
Outstanding at the beginning of the period (in shares)	2,188
Granted (in shares)	1,102
Exercised (in shares)	(132)
Cancelled (in shares)	(418)
Outstanding at the end of the period (in shares)	2,740	2,188
Exercisable at the end of the period (in shares)	967
Vested and expected to vest at the end of the period (in shares)	2,740
Weighted-average exercise price
Outstanding at the beginning of the period (in dollars per share)	$ 20.69
Granted (in dollars per share)	15.74
Exercised (in dollars per share)	12.37
Cancelled (in dollars per share)	18.51
Outstanding at the end of the period (in dollars per share)	19.43	$ 20.69
Exercisable at the end of the period (in dollars per share)	23.71
Vested and expected to vest at the end of the period (in dollars per share)	$ 19.43
Weighted-average remaining contractual life
Outstanding (in years)	8 years 1 month 6 days	8 years 1 month 6 days
Exercisable at the end of the period (in years)	6 years 3 months 18 days
Vested and expected to vest at the end of the period (in years)	8 years 1 month 6 days
Aggregate intrinsic value
Outstanding	$ 26,822	$ 4,273
Exercisable at the end of the period	7,260
Vested and expected to vest at the end of the period	$ 26,822